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AP_DDS: subscribe to /tf instead of /ap/tf

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README update cointains the new topic name
This commit is contained in:
pedro-fuoco 2023-08-30 13:22:33 -03:00 committed by Andrew Tridgell
parent f6f6b08af8
commit 15702c46b0
2 changed files with 3 additions and 3 deletions
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2
libraries/AP_DDS/README.md
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@ -216,8 +216,8 @@ Next, follow the associated section for your chosen transport, and finally you c
Subscribed topics: Subscribed topics:
* /ap/joy [sensor_msgs/msg/Joy] 1 subscriber * /ap/joy [sensor_msgs/msg/Joy] 1 subscriber
* /ap/tf [tf2_msgs/msg/TFMessage] 1 subscriber
* /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber * /ap/cmd_vel [geometry_msgs/msg/TwistStamped] 1 subscriber
* /tf [tf2_msgs/msg/TFMessage] 1 subscriber
$ ros2 topic hz /ap/time $ ros2 topic hz /ap/time
average rate: 50.115 average rate: 50.115

4
libraries/AP_DDS/dds_xrce_profile.xml
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@ -239,7 +239,7 @@
</topic> </topic>
</data_reader> </data_reader>
<topic profile_name="dynamictf__t"> <topic profile_name="dynamictf__t">
<name>rt/ap/tf</name> <name>rt/tf</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType> <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
<historyQos> <historyQos>
<kind>KEEP_LAST</kind> <kind>KEEP_LAST</kind>
@ -249,7 +249,7 @@
<data_reader profile_name="dynamictf__dr"> <data_reader profile_name="dynamictf__dr">
<topic> <topic>
<kind>NO_KEY</kind> <kind>NO_KEY</kind>
<name>rt/ap/tf</name> <name>rt/tf</name>
<dataType>tf2_msgs::msg::dds_::TFMessage_</dataType> <dataType>tf2_msgs::msg::dds_::TFMessage_</dataType>
</topic> </topic>
</data_reader> </data_reader>